Powered prosthetic thumb

ABSTRACT

Features for a powered prosthetic thumb are described. The thumb provides for rotation of a digit that mimics the natural movement possible with a sound thumb. The thumb may attach to a full or partial prosthetic hand or socket on a residual limb. The thumb may include an upper assembly, including a prosthetic thumb digit, rotatably attached to a mount about a pinch axis and a lateral axis. The digit may rotate about only the pinch axis, only the lateral axis, or both the pinch and lateral axes simultaneously. A first actuator may actuate to cause rotation of the digit about the pinch axis. A second actuator may actuate to cause rotation of the digit about the lateral axis. The first and second actuators may be actuated together at appropriate speeds to cause rotation about both the pinch and lateral axes simultaneously. A swaying chassis may be rotatably connected with the upper assembly and a lower assembly about various offset axes to provide for rotation about the lateral axis.

CROSS-REFERENCE TO RELATED APPLICATIONS

The present application claims priority to U.S. Provisional PatentApplication No. 62/599,559, titled “Powered Prosthetic Thumb” and filedon Dec. 15, 2017, which is incorporated herein by reference in itsentirety for all purposes and forms a part of this specification.

BACKGROUND Field

Features related to prosthetics are disclosed, in particular featuresrelated to a prosthetic thumb.

Description of the Related Art

A loss of a limb or part of a limb creates challenges for the amputee inperforming simple tasks. The loss of upper limbs creates particularchallenges due to the intricacy and dexterity of the human hand.Existing solutions for prosthetic digits provide limited movements. Forexample, existing digit prosthetics, such as prosthetic thumbs andfingers, do not provide in a natural manner the full range of motion andcapabilities of a sound thumb. Improvements in this area are thereforedesirable.

SUMMARY

The following disclosure describes non-limiting examples of someembodiments. For instance, other embodiments of the disclosed systemsand methods may or may not include the features described herein.Moreover, disclosed advantages and benefits can apply only to certainembodiments of the invention and should not be used to limit thedisclosure. The embodiments disclosed herein each have several aspectsno single one of which is solely responsible for the disclosure'sdesirable attributes.

Without limiting the scope of this disclosure, its more prominentfeatures will now be briefly discussed. After considering thisdiscussion, and particularly after reading the section entitled“Detailed Description,” one will understand how the features of theembodiments described herein provide advantages over existing systems,devices and methods.

In a first aspect, a powered prosthetic thumb is described. The poweredprosthetic thumb comprises a mount, a digit and an actuator. The digitis rotatably coupled with the mount about a first axis and a secondaxis, the first axis non-parallel with the second axis. The actuator isconfigured to cause rotation of the digit about the first axis. Anorientation of the first axis relative to the mount changes as the digitrotates about the second axis.

Various embodiments of the various aspects may be implemented. Theactuator may be configured to rotate in a first direction to cause thedigit to rotate about the first axis. The powered prosthetic thumb mayfurther comprise a second actuator configured to cause the digit torotate about the second axis. An orientation of the first axis relativeto the second axis may change as the digit rotates about the secondaxis. The first axis may rotate about the second axis as the digitrotates about the second axis. The powered prosthetic thumb may furthercomprise a clutch assembly configured to allow for manual rotation ofthe digit about the second axis. The powered prosthetic thumb mayfurther comprise a first worm wheel and a first worm gear in mechanicalcommunication with the first worm wheel, where the actuator isconfigured to cause rotation of the digit about the first axis bycausing rotation of the first worm gear. The powered prosthetic thumbmay further comprise a first bevel gear and a second bevel gear inmechanical communication with the first bevel gear, where the secondactuator is configured to cause rotation of the digit about the secondaxis by causing rotation of the first bevel gear. The powered prostheticthumb may further comprise a chassis rotatably coupling the mount withthe digit. The powered prosthetic thumb may further comprise a firstlink and a second link, with each link rotatably coupling the chassiswith the mount. The first axis may be a pinch axis, such that rotationof the digit about the first axis causes the digit to open or close, andthe second axis may be a lateral axis, such that rotation of the digitabout the second axis causes lateral rotation of the digit. The digitmay comprise the first actuator. The mount may be configured to couplewith a prosthetic socket mounted on a residual limb. The mount may beconfigured to couple with a partial prosthetic hand. The mount may beconfigured to couple with an upper limb. The upper limb may be aprosthetic arm or natural arm.

In another aspect, a powered prosthetic thumb is described. The poweredprosthetic thumb comprises a mount, a digit, an actuator and a clutch.The digit is rotatably connected to the mount at least about a firstaxis. The actuator is in mechanical communication with the digit andconfigured to rotate the digit about the first axis. The clutch iscoupled with the mount and the digit, with the clutch providing arotational resistance to the digit about the first axis. The digit isconfigured to be operated in a manual mode wherein the rotationalresistance is overcome to allow the digit to be manually rotated aboutthe first axis.

Various embodiments of the various aspects may be implemented. Theclutch assembly may comprise a compression spring. The compressionspring may comprise a Belleville washer. The digit may be rotatablycoupled with the mount about the first axis and a second axis, where thefirst axis is non-parallel with the second axis. A orientation of thesecond axis relative to the mount may change as the digit rotates aboutthe first axis. The clutch may provide the rotational resistance to thedigit about the first axis via a bevel gear. The bevel gear may beconfigured to rotate in response to overcoming the rotational resistanceto allow the digit to be manually rotated about the first axis.

In another aspect, a powered prosthetic thumb is described. The poweredprosthetic thumb comprises a lower assembly, a middle assembly, an upperassembly, a first actuator and a second actuator. The lower assemblycomprises a mount. The middle assembly comprises a chassis, where themiddle assembly is rotatably coupled with the lower assembly about alateral axis. The upper assembly comprises a digit, where the upperassembly is rotatably coupled with the middle assembly about a pinchaxis. The first actuator is configured to cause rotation of the digitrelative to the chassis about the pinch axis. The second actuator isconfigured to cause rotation of the digit about the lateral axis bycausing rotation of the chassis relative to the mount about the lateralaxis. The pinch axis is configured to rotate about the lateral axis asthe digit rotates about the lateral axis.

Various embodiments of the various aspects may be implemented. Thelateral axis may extend along a first direction, the pinch axis mayextend along a second direction that is non-parallel with respect to thefirst direction, and the second actuator may be configured to causerotation of the chassis relative to the mount about the lateral axissuch that the second direction remains non-parallel to the firstdirection. The lateral axis may not intersect the pinch axis while thechassis rotates about the lateral axis. A proximal portion of the mountmay be positioned proximal to a distal portion of the chassis, aproximal portion of the chassis may be positioned proximal to a distalportion of the digit, and the lateral axis may be positioned proximal tothe digit. The lateral axis may be positioned proximal to the chassis.The pinch axis may be positioned distal to the proximal portion of thechassis. The digit may be configured to rotate about the pinch axis in afirst plane that comprises the lateral axis.

In another aspect, a powered prosthetic thumb is described. The poweredprosthetic thumb comprises a lower assembly, a middle assembly and anupper assembly. The lower assembly comprises a mount configured toattach to a prosthetic hand. The mount may attach, for example, to asocket or other portion of the hand or arm. The middle assembly iscoupled with the lower assembly. The middle assembly comprises achassis, a first link having a first end rotatably connected to themount and a second end connected to the chassis, a second link having afirst end rotatably connected to the mount and a second end rotatablyconnected to the chassis, a shaft connected to the chassis along a pinchaxis and having disposed thereon a first worm wheel, a second worm wheeland a first bevel gear, and a second bevel gear connected to the chassisand in mechanical communication with the first bevel gear. The upperassembly is coupled with the middle assembly. The upper assemblycomprises a digit extending along a longitudinal axis, a first actuatorconfigured to rotate a first worm gear about a first axis parallel withthe longitudinal axis, the first worm gear in mechanical communicationwith the first worm wheel, and a second actuator configured to rotate asecond worm gear about a second axis parallel with the longitudinalaxis, the second worm gear in mechanical communication with the secondworm wheel. Actuating the first actuator causes the digit to rotateabout the pinch axis. Actuating the second actuator causes the digit torotate about a lateral axis, that is not parallel with the pinch axis,due to mechanical communication between the first bevel gear and thesecond bevel gear.

Other aspects include other embodiments of a prosthetic thumb, methodsof operating a prosthetic thumb, and other prostheses that may or maynot include a prosthetic thumb as described herein. Prosthetic digitsother than a thumb may incorporate features described herein.

BRIEF DESCRIPTION OF THE DRAWINGS

FIGS. 1A and 1B are side and front views respectively of embodiments ofan upper limb that include an embodiment of a powered prosthetic thumb.

FIGS. 2A-2C are various perspective views of the thumb of FIGS. 1A and1B having a lower, middle and upper assembly.

FIGS. 2D-2E are sequential perspective views of the thumb of FIGS. 1Aand 1B showing sequential positions before and after, respectively,lateral rotation about a lateral axis.

FIGS. 3A and 3B are perspective and exploded views respectively of thelower assembly of FIGS. 2A-2C.

FIGS. 3C and 3D are perspective and exploded views respectively ofanother embodiment of a lower assembly that may be used with the thumbof FIGS. 1A and 1B.

FIGS. 4A and 4B are perspective and exploded views respectively of themiddle assembly of FIGS. 2A-2C having a rocker, coupler and a swayingchassis.

FIG. 4C is a perspective view of the swaying chassis of FIGS. 4A-4B.

FIG. 4D is a perspective view of the rocker of FIGS. 4A-4B.

FIG. 4E is a perspective view of the coupler of FIGS. 4A-4B.

FIG. 4F is a perspective view of another embodiment of a coupler thatmay be used with the thumb of FIGS. 1A and 1B.

FIGS. 5A and 5B are perspective views of the upper assembly of FIGS.2A-2C.

FIG. 5C is an exploded view of the upper assembly of FIGS. 2A-2C.

FIG. 6 is a block diagram of an embodiment of a powered prostheticthumb.

FIG. 7 is a flow chart showing an embodiment of a method of rotating apowered prosthetic thumb.

FIGS. 8A and 8B are front and back views respectively of an embodimentof a partial prosthetic hand having the thumb of FIGS. 1A and 1Battached to the partial prosthetic hand.

DETAILED DESCRIPTION

FIGS. 1A and 1B are side and front views respectively of an embodimentof an upper limb 100 that includes an embodiment of a powered prostheticthumb 200. As shown, the upper limb 100 may include an arm 110 attachedto a hand 120. The arm 110 may be a prosthetic arm. The hand 120 may bea left hand. The thumb 200 may also be used with a right hand. In someembodiments, the arm 110 may be a natural arm, i.e. a natural or soundhuman arm. The arm 110 may be a stump and/or include a fitting on adistal end thereof. The arm 110 may be or include one or more prostheticsockets 132 and/or 202 (see FIG. 1B) mounted on the arm 110, such as aresidual limb, or on the hand 120, such as a palm portion 124 (see FIG.1B) on the end of the arm 110. For clarity the prosthetic sockets 132,202 are not shown in FIG. 1A. The prosthetic sockets 132 may connect oneor more finger digits 130 with the arm 110 and/or the palm 124. Theprosthetic socket 202 may connect the thumb 200 with the arm 110 and/orthe palm 124. The prosthetic sockets 132, 202 may be a variety ofdifferent types of suitable prosthetic sockets. For example, theprosthetic sockets 132, 202 may be created by a prosthetist for theappropriate anatomical spacing and location of the finger digits 130 andthe thumb 200 relative to the end of the arm 110 or relative to the palm124 of the hand 120. The prosthetic sockets 132, 202 are shownschematically in FIG. 1B.

The hand 120 may be a prosthetic hand, for example a full prosthetichand or a partial prosthetic hand. The hand 120 may include one or moreprosthetic finger digits 130, for example the four finger digits 130 andthe thumb 200. In some embodiments, there may be fewer than four of thedigits 130, for example where the hand 120 is a partial prosthetic hand.The thumb 200 may be used with partial hand patients, for example thatare missing a natural thumb only, and who could thus use the thumb 200with a partial hand system. In some embodiments, the thumb 200 may beused with patients that are missing a natural thumb and/or one or morenatural fingers and/or a natural palm, either partially or completelymissing any of these natural anatomical body parts. In some embodiments,the digits 130 and/or thumb 200 may connect directly with the arm 110.Thus the hand 120 may just include the digits 130 and/or just the thumb200. An example embodiment of a partial prosthetic hand 120A that thethumb 200 may be used with is shown and described with respect to FIGS.8A and 8B. There may be a structure, such as a palm structure, of thepalm 124 attaching the digits 130 and/or thumb 200 with the arm 110. Insome embodiments, there may just be the thumb 200 attached to a partialprosthetic hand 120, which is attached to a natural partial hand havingone or more natural fingers, which is attached to a natural arm 110.

The digits 130 and the thumb 200 may be configured to facilitategrasping an object 140. As shown in FIG. 1A, the object 140 may be acylinder, or other objects. The thumb 200 described herein facilitatesgrasping and/or manipulating this and other objects by allowing formovement in a natural manner and through large ranges of motion, forexample by providing rotation about multiple axes, simultaneous rotationabout multiple axes, rotation about one or more moving axes, among otheradvantages, as further described.

FIGS. 2A-2C are various perspective views of the thumb 200. As shown,the thumb 200 may include a lower assembly 300, a middle assembly 400and an upper assembly 500. The lower assembly 300 may be configured toattach to the hand 120, for example a palm structure thereof, or to thearm 110. In some embodiments, the lower assembly 300 attaches to a fullprosthetic hand 120 or a partial prosthetic hand 120. The lower assembly300 may include a plate 310 for attaching to the hand 120. The thumb 200may provide rotation of the upper assembly 500 about a pinch axis 90,about a lateral axis 50, or about both the pinch axis 90 and the lateralaxis 50, as further described below. Other rotations and movements mayalso be performed by the thumb 200. For example, the thumb 200 mayinclude other joints along the upper assembly 500 that rotate as well.The upper assembly 500 or portions thereof may be considered a digit,such as a thumb digit, which performs the various rotations, as furtherdescribed herein. A cover 508 may extend along the digit. The digit mayhave a top side 509 and an opposite underside 511. The underside 511 mayrefer to a side of the digit that would be on the same side of a palm ofa sound hand. The top side 509 may refer to a side of the digit thatwould be on the same side as the back of a sound hand.

The assemblies 300, 400, 500 may have rotatable connections with eachother, as generally described here, and as described in further detailherein, for example with respect to FIGS. 3A-5C. Various geometricreferences may be used to describe the thumb 200. As shown, a distaldirection extends in a direction generally from the lower assembly 300toward the upper assembly 500. A proximal direction extends generally ina direction from the upper assembly 500 toward the lower assembly 300.

The lower assembly 300 is rotatably connected with the middle assembly400. The middle assembly 400 may include a rocker 450 and a coupler 470.Proximal ends of the rocker 450 and the coupler 470 may be rotatableconnected with a mount 320 of the lower assembly 300. The middleassembly 400 may include a swaying chassis 410 rotatably connected witha distal end of the rocker 450 and connected with the coupler 470. Theupper assembly 500 is rotatably connected at a proximal end thereof withthe middle assembly 400. The upper assembly 500 may include a cover 508having a proximal end rotatably connecting the upper assembly 500 with adistal end of the swaying chassis 410.

The upper assembly 500 is configured to rotate about a pinch axis 90and/or a lateral axis 50, as described in further detail herein. Thepinch axis 90 may be defined and be fixed with respect to portions ofthe upper assembly 500. Further, the upper assembly 500 may move indirections other than merely rotating about the pinch axis 90. Thus, theorientation of the pinch axis 90 may also change, for example relativeto the lower assembly 300 such as the mount 320, due to movement of theupper assembly 500. The upper assembly may rotate about the pinch axis90 due to mechanical communication between various worm gears 534, 542and worm wheels 490, 493, as further described.

The lateral axis 50 may be defined and be fixed with respect to portionsof the lower assembly 300. Further, the upper assembly 500 may move indirections other than merely rotating about the pinch axis 90. Thus, theorientation of the pinch axis 90 may also change, for example relativeto the lower assembly 300 such as the mount 320, due to movement of theupper assembly 500. The upper assembly 500 may rotate only about thepinch axis 90, only about the lateral axis 50, or about the pinch axis90 and the lateral axis 50 simultaneously, as further described. Theupper assembly 500 may rotate about the lateral axis 50 due tomechanical communication between a first bevel gear 492 and a secondbevel gear 485, as further described. A clutch assembly 479 may allowfor manual rotation of the upper assembly 500 about the lateral axis 50,for example to prevent damage in case of excessive force applied to thedigit, as further described.

FIGS. 2D-2E are sequential perspective views of the thumb 200 showingsequential positions of the upper assembly 500 and other componentsbefore and after, respectively, lateral rotation about the lateral axis50. The upper assembly 500 has been rotated from the position in FIG. 2Dto the position shown in FIG. 2E. Further, the orientation of the 1pinch axis 90 in FIG. 2E have changed relative to the orientation inFIG. 2D. The change in orientation of the axis 90 may be described asrelative to the lateral axis 50, the mount 320 or other fixed referenceportion of the thumb 200. Thus the pinch axis 90 may rotate about thelateral axis 50. The upper assembly 500 may rotate back from theposition shown in FIG. 2E to the position shown in FIG. 2D. Under manuallateral rotation, a clutch component may rotate about the clutch axis 80to allow for lateral manual rotation, as further described. These arejust example positions meant to illustrate one possible rotation aboutthe lateral axis 50. In some embodiments, the thumb 200 may beconfigured such that the lateral axis 50 moves as the upper assembly 500performs the various rotations described herein.

In some embodiments, rotation of the upper assembly 500 may be describedwith respect to a rotation vector. It is understood in the art that arotation vector has a magnitude that is proportional to the amount orspeed of rotation and a direction that is perpendicular to the plane ofrotation. It is also understood in the art that a rotation vector'smagnitude and direction may be described by three componentscorresponding to coordinates of three mutually orthogonal axes, such asa reference X-Y-Z axis system. Here, a reference axis system may befixed with respect to a fixed portion of the thumb, such as the lowerassembly 300, for example the mount 320. A reference axis system mayinstead be fixed to the upper assembly 500 and move with the upperassembly 500 as the upper assembly 500 moves. A rotation vector of theupper assembly 500 may be described with respect to such referenceframes. In some embodiments, the upper assembly 500 may have a rotationvector that has one, two or three components in such reference framethat are non-zero. For example, the upper assembly 500 may rotate aboutboth the lateral axis 50 and the pinch axis 90 simultaneously. Asfurther example, the upper assembly 500 may rotate about only thelateral axis 50. In these and other instances, the correspondingrotation vector of the upper assembly 500 may have multiple componentsthat are non-zero. In some embodiments, the rotation vector of the upperassembly 500 may change magnitude and/or direction as the upper assemblyrotates.

In some embodiments, rotation of the upper assembly 500 may be describedwith respect to Euler angles. As is understood in the art, Euler anglesare three angles that describe the orientation of a body with referenceto a fixed reference frame. In some embodiments, a fixed reference framemay be as described above, for example an X-Y-Z axis system fixed withrespect to the mount 320. The upper assembly 500 may have a localreference frame that moves with the upper assembly 500. In someembodiments, Euler angles may describe the relationship between a finalorientation of the upper assembly 500 relative to an initialorientation, by describing the angular rotations of the local referenceframe relative to the fixed reference frame. In some embodiments,rotation of the upper assembly 500 may be described with one, two orthree non-zero Euler angles. For example, the upper assembly 500 mayrotate about both the lateral axis 50 and the pinch axis 90simultaneously. As further example, the upper assembly 500 may rotateabout only the lateral axis 50. In these and other instances, therelative orientation between a starting orientation of the upperassembly 500 prior to rotating and a final orientation after rotatingmay be described with one, two or three Euler angles that are non-zero.

FIGS. 3A-3B show the lower assembly 300 in isolation from the remainingparts of the thumb 200. FIG. 3B is an exploded view of the lowerassembly 300. As shown in the figures, the lower assembly 300 mayinclude a plate 310. The plate 310 may be configured to attach to thehand 120. For example, the plate 310 may be attached on a first sidethereof to the prosthetic hand 120, e.g. in a location where a soundthumb would be located. The plate 310 may be attached on an oppositesecond side thereof to a mount 320. The plate 310 may attach to the hand120 and/or mount 320 with fasteners, other mechanical attachments,adhesives, other suitable attachment means, or combinations thereof.

The mount 320 may be a structural component configured to attach to theplate 310 and/or other structure and to attach, for example rotatablyattach, to various parts of the middle assembly 400. The mount 320 mayinclude a base 321. The base 321 provides a structural foundation forthe mount 320. The base 321 may include one or more holes 322 extendingtherethrough. As shown there may be three holes 322. The holes 322 mayreceive a fastener, for example a screw, therethrough to attach the base321 with the plate 310.

The mount 320 may include a first projection 323. The first projection323 may provide attachment points for various components of the middleassembly 400. The first projection may be a raised portion of the mount320 extending distally from the mount 320. The first projection 323 mayinclude a first ear 324 and/or a second ear 326. The first and secondears 324, 326 may be projections extending distally from the firstprojection 323. The first ear 324 may include an opening 325 extendingtherethrough. The opening 325 may extend along and may align with arocker axis 60. The opening 325 may define the rocker axis 60. Therocker axis 60 may align with an axis of rotation for various componentsof the middle assembly 400, such as a proximal portion of the rocker 450as further described. The second ear 326 may include an opening 328extending therethrough. The opening 328 may extend along and align withand/or define a lateral axis 50. The lateral axis 50 may align with anaxis of rotation for various components of the middle assembly 400, suchas a proximal portion of the coupler 470, as further described.

The mount 320 may include a second projection 330 extending distallyfrom the mount 320 and spaced from the first projection 323. The secondprojection 330 may be laterally spaced from the first projection 323 todefine one or more spaces therebetween. The second projection 330 mayprovide attachment points for various components of the middle assembly400. The second projection 330 may include an opening 332 extendingtherethrough. The opening 332 may extend along and align with the rockeraxis 60. The opening 332 may define the rocker axis 60. The opening 332may therefore align or generally align with the opening 325. The portionof the second projection 330 having the opening 332 may be spaced fromthe portion of the first ear 324 having the opening 325 to define aspace 331 therebetween. The second projection 330 may include an opening334 extending therethrough. The opening 334 may align with the lateralaxis 50. The opening 334 may define the lateral axis 50. The opening 334may therefore align or generally align with the opening 328. The portionof the second projection 330 having the opening 334 may be spaced fromthe portion of the second ear 326 having the opening 328 to define aspace 329 therebetween.

The lower assembly 300 may include a rocker pivot shaft 350. The shaft350 may include a first end 352 and an opposite second end 354. Theshaft may be an elongated structural element extending from the firstend 352 to the second end 354. The shaft 350 may be located in the space331 and received into the opening 332 and the opening 325. The first end352 of the shaft 350 may be received by the opening 332, and the secondend 354 may be received by the opening 325. The second end 354 mayinclude a notch 355, for example a flat recess as shown. The notch 355may allow for receiving a tool therein to adjust, for example rotate,the shaft 350. The shaft 350 may be aligned with, for example extendalong, the rocker axis 60. The shaft 350 may provide a structuralsupport for rotating the rocker 450 about the rocker axis 60, as furtherdescribed. The shaft 350 may be rotatably stationary about the axis 60.In some embodiments, the shaft 350 may be configured to allow forrotation about the axis 60.

The lower assembly 300 may include a swaying chassis pivot shaft 360.The shaft 360 may include a first end 362 and an opposite second end364. The shaft 360 may be an elongated structural element extending fromthe first end 362 to the second end 364. The shaft 360 may be located inthe space 329 and received by the opening 328 and the opening 334. Asshown the first end 362 may be received by the opening 328 and thesecond end 364 received by the opening 334. The shaft 360 may bethreaded or not threaded. The shaft 360 may be aligned with, for exampleextend along, the lateral axis 50. The shaft 360 may provide astructural support for rotating the swaying chassis 410 about thelateral axis 50, as further described. The shaft 360 may be rotatablystationary about the lateral axis 50. In some embodiments, the shaft 360may be configured to allow for rotation about the lateral axis 50.

The lower assembly 300 may include a pogo plate 370. The pogo plate 370may receive one or more pogo pins 372. The lower assembly 300 mayinclude a distribution circuit board 374. The pins 372 may establish atemporary connection between the circuit board 374 and other electronicsof the thumb 200 and/or hand 120. This pins 372 may be slender cylinderscontaining two sharp, spring-loaded pins. The board 374 may be attachedto the plate 310 and/or the mount 320. The board 374 may be inelectrical communication with the pins 372. The pins 372 may actuate toestablish the connection with the board 374. The board 374 may be inelectrical communication with a circuit connection 376, such as aprinted circuit board (PCB) connection. The circuit connection 376 maybe on an actuator cable circuit board 378. The board 378 may include aseries of circuit pins 380 which may be mounted to the circuitconnection 376. The board 378 may be located inside the secondprojection 330 of the mount 320.

The lower assembly 300 may include a sensor 382. As shown the sensor 382may be a Hall Effect sensor or Hall Effect sensor assembly. The sensor382 may be a Hall Effect sensor assembly that senses one or more magnetsof the thumb 200, as further described herein. The sensor 382 signalswith different levels of current output depending on the proximity of amagnetic field. Thus a small magnet (e.g. about 0.5-5 mm diameter,preferably 1 mm or 2 mm diameter) may be positioned on one of therotating links, such as the coupler 470, and as the link rotates thedistance between the magnet and the sensor 382 changes. This in turnresults in different values of current being signaled by the sensor 382.By calibrating the variation of the signaled current by the sensor 382versus the associated angle that the thumb 200 or portions thereof suchas the coupler 470 rotates, the signals may be read from the sensor 382to determine the angular position of the thumb 200 or portions thereof,such as the coupler 470 and/or upper assembly 500. This data may be usedto decide the next commands to the actuators to reduce or increase theangular position.

The sensor 382 may be located within the second projection 330. Thesensor 382 may be positioned as an angle of 45 degrees or about 45degrees. The sensor 382 may be positioned as an angle of 45 degrees orabout 45 degrees relative to the base 321 and/or second projection 330.This positioning may account for outside effects such as the upperassembly 500 which may be metallic. As shown, the sensor 382 may beexposed through an opening 335 of the second projection 330. The sensor382 may communicate with other components of the thumb 200 through theopening 335. For example, the sensor 382 may be a Hall Effect sensorassembly that communicates electromagnetically with one or more magnets,as further described herein.

The lower assembly 300 may be attached with the middle assembly 400, asfurther described. The shafts 350, 360 may provide rotationalsecurements for various components of the thumb 200, as furtherdescribed. As shown, the shaft 350 may be angled with respect to theshaft 360. The shaft 350 may be in a different plane than the shaft 360.The shaft 350 may be in a different plane and angled with respect to theshaft 360. The lateral axis 50 may be angled with respect to the axis60. The lateral axis 50 may be in a different plane than the axis 60.The lateral axis 50 may be in a different plane and angled with respectto the axis 60. The shafts 350, 360 may align with respectively the axes60, 50.

FIGS. 3C and 3D are perspective and exploded views respectively ofanother embodiment of a lower assembly 300A that may be used with thethumb 200. The lower assembly 300A may have the same or similar featuresand/or functions as the lower assembly 300. In addition or alternativelyto the features described with respect to the lower assembly 300, thelower assembly 300A in some embodiments may include, for example, aplate 310 with a recess 314. As illustrated in FIG. 3D, the recess 314may help provide the lower assembly 300A with a low profile and allowfor minimal invasion. The recess 314 can allow components of the lowerassembly 300A, such as the circuit board 374 and the plate 310, to fittogether more tightly and create a lower overall profile on the thumb200.

The thumb 200 may rotate and/or move quietly (e.g., without producingmuch noise) due to the compactness and design of the various rotatingparts of the thumb 200. The thumb 200 may include at least one motor,such as the actuators 530, 538 described herein and shown in FIG. 5C.For example, the motor may be a brushed DC motor or a brushless motor.The motor may advantageously be very quiet. The mechanics of themotor(s) and the moving parts of the thumb 200 may be efficient. Forexample, the parts may be small and packed tightly as described hereinand provide for quiet and smooth operation of the thumb during rotationabout one or more of the rotational axes.

The lower assembly 300A may include at least one opening 318 in themount 320. The opening 318 may be disposed on a top portion of the mount320. In some embodiments, there may be more than one opening 318, suchas with a dividing wall separating two or more openings 318. The opening318 may extend downwardly through the second projection 330 to allowaccess to electrical connections between the circuit board 374 andelectronics of the upper assembly 500 and/or other parts of the thumb200. In some embodiments, the circuit board 374 may have a hole 384configured to receive a fastener, such as a screw, to attach the circuitboard 374 with other components of the lower assembly 300A.

Various components, such as the actuator cable circuit board 378 and/orthe circuit board 374, may be separate components or may be included ina single component. For example, as shown in FIG. 3D, the circuit board374 may include a flexible portion comprising the actuator cable circuitboard 378. The board 378 may extend upwardly from the portion with theboard 374. The board 378 may be received into the opening 318 of themount 320 through a lower portion of the opening 318 in the bottom ofthe mount 320 for electrical connection. In some embodiments, componentssuch as the pogo plate 370, pogo pins 372, circuit connection 376,and/or circuit pins 380 may not be included in the lower assembly 300A.

The lower assembly 300A may include a plug-in. The lower assembly 300Amay not include the pogo plate 370 or pins 372 and instead have theplug-in. The plug-in may receive a standard type plug. The plug-in maybe located for example on the bottom of the board 374. The design of theboard 374 with the upward extending board 378 may allow for a morecompact design that incorporates the plug-in and further contributes tothe compactness of the electronics and to the overall thumb 200.

The lower assembly 300A may include one or more (e.g., 2 or 3) sensors382. The sensor 382 may be coupled to the board 378. For example, thesensor 382 may be soldered to a surface, such as a back surface as shownand as oriented in FIG. 3D, of the board 378. Soldering the sensor 382to the board 378 may reduce the number of parts in the lower assembly300A. The use of fewer components may aid the reliability of theassembly 300A and simplify the manufacturing process. In someembodiments, the sensor 382 may be an analog Hall Effect sensor. TheHall Effect sensor may be used to obtain the absolute position of thethumb 200.

In some embodiments, a potentiometer may be used to obtain the absoluteposition of the thumb 200. In some embodiments, an incremental opticalrotary encoder and/or gyro sensor may be used to control the thumb 200.For example, an incremental optical rotary encoder can generate a signalwhen the motor moves. The motor may include absolute optical encoders.For example, the motor may include absolute optical encoders whichmonitor the internal position of the motor. The position of the thumb200 can be derived from the motor's rotation.

FIG. 4A is a perspective view of the middle assembly 400. FIG. 4B is anexploded view of the middle assembly 400. As shown in the figures, themiddle assembly 400 may include the swaying chassis 410, the rocker 450and the coupler 470. FIG. 4C is a perspective view of the swayingchassis 410. FIG. 4D is a perspective view of the rocker 450. FIG. 4E isa perspective view of the coupler 470. The middle assembly 400 maycouple with the lower assembly 300, as further described. As shown inFIG. 4A, a distal end of the rocker 450 may rotatably couple with thechassis 410 about a chassis axis 70. A distal end of the coupler 470 maycouple with the chassis 410 about a clutch axis 80. The clutch axis 80may be a rotation axis for a bevel gear to allow manual lateral rotationof the upper assembly 500, for example in case of excessive appliedforce to the digit, as further described. The distal end of the coupler470 may be rotationally fixed with the chassis 410 about the clutch axis80 to allow for automatic lateral rotation by the actuator, as furtherdescribed herein.

As shown in FIG. 4C, the swaying chassis 410 may include a rockerattachment portion 412. The portion 412 may include a base 413 having afirst ear 414 and a second ear 418 extending outwardly, for exampleperpendicularly, therefrom. The first and second ears 414, 418 may bespaced to define a rocker receiving space 422 therebetween. The firstear 414 may include an opening 416 extending therethrough. The secondear 418 may include an opening 420 extending therethrough. The openings416, 420 may be aligned with and extend along or define the chassis axis70. The portion 412 may rotatably couple the chassis 410 with the rocker450 about the chassis axis 70, as further described.

The chassis 410 may include a coupler/upper assembly attachment portion428. The portion 428 may be attached to or integral with the portion412. The portion 428 may include a base 430. The base 430 may include anopening 431 extending therethrough. The opening 431 may be aligned withand extend along or define the lateral axis 50. The base 430 may includea first ear 432 and a second ear 436 extending outwardly, for exampleperpendicularly, therefrom. The first ear 432 and the second ear 436 maybe spaced apart to define a main shaft receiving space 440 therebetween.The first ear 432 may include an opening 434 extending therethrough. Thesecond ear 436 may include an opening 438 extending therethrough. Theopenings 434, 438 may be aligned with and extend along or define a pinchaxis 90. The upper assembly 500 may rotate about the pinch axis 90 toopen and close the digit, as further described.

The pinch axis 90 may be angled, for example perpendicular, with respectto the lateral axis 50. The axes 90, 50 may be oriented at other angleswith respect to each other. The axes 90, 50 may or may not intersect.The chassis axis 70 may be angled with respect to the axes 50 and/or 90.The chassis axis 70 may be in a different plane than the axes 50 and/or90. The digit may rotate about the axis 90 in a first plane. The firstplane may move as the digit laterally rotates. The first plane mayrotate about the axis 50 as the digit rotates laterally. In someembodiments, the axis 50 may intersect the first plane. In someembodiments, the axis 50 may in the first plane.

As shown in FIG. 4D, the rocker 450 may include a body 452. The body 452may be a planar or generally planar structural support. The body 452 mayinclude a first ear 456, a second ear 458 and/or a third ear 464. Theears 456, 458, 464 may be located on the same side of the body 452. Theears 456, 458, 464 may extend away from the body 452. The ears 456, 458,464 may extend away from the body 452 in the same or generally the samedirection.

The rocker 450 may include a proximal mount attachment portion 454. Theportion 454 may include a proximal portion of the body 452 and the firstear 456 and the second ear 458. The first ear 456 may have an opening457 extending therethrough. The second ear 458 may include an opening459 extending therethrough. The openings 457, 459 may be aligned withand/or define a local axis 60A. The axis 60A may be aligned with therocker axis 60, as further described, when the rocker 450 is assembledwith the mount 320. The first ear 456 and the second ear 458 may bespaced apart from each other to define therebetween a shaft receivingspace 460. The space 460 may receive therein the rocker pivot shaft 350when the rocker 450 is assembled with the mount 320. When assembled, theproximal portion of the rocker 450 may rotate on the shaft 350 relativeto the mount 320 and about the axis 60. There may be one or morebushings in the openings 457, 459.

The rocker 450 may include a distal chassis attachment portion 462. Thechassis attachment portion 462 may be attached to or integral with theportion 454. The portion 462 may include a distal portion of the body452 and the third ear 464. The ear 464 may include an opening 466extending therethrough. The opening 466 may be aligned with and/ordefine a local chassis axis 70A. The local chassis axis 70A may alignwith the chassis axis 70 when the rocker 450 is assembled with thechassis 410. When assembled, the distal portion of the rocker 450 mayrotate about the axis 70 relative to the chassis 470. There may be oneor more bushings in the opening 466.

As shown in FIG. 4E, the coupler 470 may include a body 471. The body471 may include a mount attachment portion 472 at a proximal endthereof. The portion 472 may include an opening 473 extendingtherethrough. The opening 473 may be aligned with and/or define a localaxis 50A. The local axis 50A may align with the lateral axis 50 when thecoupler 470 is assembled with the lower assembly 300, such as the mount320. When assembled, the proximal end of the coupler 470 may rotaterelative to the mount 320 and about the axis 50.

The body 471 may include a chassis attachment portion 475 at a distalend thereof. The chassis attachment portion 475 may be attached to or beintegral with the portion 472. The portion 475 may extend away from anend of the portion 472 at an angle, as shown. The portion 475 mayinclude an opening 476 extending therethrough. There may be a counterbore in the opening 476 as shown. The opening 476 may be aligned withand/or define a local axis 80A. The local axis 80A may align with theclutch axis 80 when the coupler 470 is assembled with the chassis 410.When assembled, the distal end of the coupler 470 may be rotationallyfixed relative to the chassis 410 by a clutch, as further described.

The portion 462 at the distal end of the rocker 450 may be rotatablycoupled with the chassis 410 by a coupler pivot shaft 495. (See FIG.4B.) The shaft 495 may include a first end 495A and an opposite secondend 495B. The shaft 495 may be an elongated structural element extendingfrom the first end 495A to the second end 495B. The shaft 495 may bereceived through the openings 416, 420 of the chassis 410 to align withthe chassis axis 70. The second end 495B may be received by the opening420 of the second ear 418. The first end 495A may be received by theopening 416 of the first ear 414. The rocker receiving space 422 of thechassis 410 may receive the third ear 464 of the rocker 450, such thatthe shaft 495 extends through the opening 466 of the third ear 464. Theshaft 495 may therefore rotatably couple the rocker 450 with the chassis410 by securing the third ear 464 rotatably within the space 422 of thechassis 410.

In some embodiments, there may also be a bushing 496 and a bushing 497.The bushing 496 may be located with the first end 495A and the bushing497 may be located with the second end 495B of the shaft 495. In someembodiments the mount attachment portion 454 of the rocker 450 mayinclude one or more bushings. As shown, the first ear 456 and the secondear 458 may each receive a bushing 488 therein.

The distal end of the coupler 470 may be coupled with the chassis 410.As shown, the chassis attachment portion 475 of the coupler 470 may becoupled with the base 430 of the chassis 410. When assembled, the axis80A defined by the coupler 470 may align with the axis 80B defined bythe chassis 410. The axes 80A, 80B may align with the clutch axis 80when assembled with the thumb 200. The distal end of the portion 475that includes the opening 476 may be located with the opening 431defined by the base 430 of the chassis 410.

The openings 476, 431 may receive therethrough a shaft 485A connectedwith a bevel gear 485, or portions thereof. The bevel gear 485 may havea series of bevel teeth on a first end with an elongated structuralelement extending therefrom, such as the shaft 485A. The shaft 485A ofthe bevel gear may extend through the opening 431 of the chassis 410 andthe opening 476 of the coupler 470 to couple the components together. Anut 484 may rotatably attach to an end of the shaft 485A. In someembodiments, there may be a clutch assembly 479, as further described,which may be secured together by the nut 484. The clutch assembly 479may prevent rotation of various parts about the clutch axis 80, asfurther described.

When the coupler 470 is assembled with the chassis 410, the distal endof portion 475 of the coupler 470 may be rotationally fixed about theclutch axis 80 relative to the chassis 410. The clutch assembly 479 mayprovide a compressive force that creates rotational resistance, asfurther described, at the connection between the coupler 470 and thechassis 410. In some embodiments, structures of the chassis 410 and/orcoupler 470 may be positioned to prevent relative rotation therebetween.For example, a surface 433 of the chassis 410 may contact a surface 477of the coupler 470 to prevent rotation. As further example, the ears 432and/or 436 of the chassis 410 may prevent rotation of the distal end ofthe coupler 470. In some embodiments, the relative positioning andorientation of the axes 50A, 80A may prevent rotation of the coupler 470about the clutch axis 80.

As shown in FIG. 4B, the thumb 200 may include the clutch assembly 479.The clutch assembly 479 may be located adjacent the chassis 410, forexample in between the body 430 and the nut 484 attached to the bevelgear 485. As shown in FIG. 4B, the clutch assembly may include afriction plate bushing 480, a clutch brake plate 481, a friction plate482, and/or one or more compression springs 483, shown here asBelleville washers. These components may be located in between the base430 of the chassis 410 and the nut 484.

In some embodiments, the clutch assembly 479 may include the compressionsprings 483 to provide axially outward forces to create frictionalrotational resistance of the bevel gear 485. For example, thecompression spring 483 may be a Belleville washer or similar typestructure. There may be multiple springs 483 stacked one on top ofanother. There may be one, two, three, four, five, six or more springs483. The clutch assembly 479 may be designed such that the springs 483and friction plate 482 prevent rotation of the bevel gear 485 when thethumb 200 is operated electronically, for example powered by anactuator. However, the friction may be overcome, and thus the bevel gear485 rotated, manually. For example, the upper assembly 500 may begrasped by the user's other sound hand and rotated to overcome thefriction in the clutch assembly 479. The nut 484 may be tightenedaccordingly to apply a desired compressive force on the spring 483 suchthat a desired frictional rotational resistance is provided to the bevelgear 485. The rotational resistance of the bevel gear 485 may prevent itfrom rotating about the clutch axis 80. Thus, when a corresponding bevelgear acts on the bevel gear 485, as further described herein, the bevelgear 485 and the structures to which it is fixedly attached, such as thecoupler 370 and the chassis 410, may move to cause the rotation of theupper assembly 500 about the lateral axis 50.

The coupler 470 may further include a bushing 486. The bushing 486 maybe located within the opening 473. The opening 473 may be in the mountattachment portion 472 that attaches rotatably to the lower assembly300.

The coupler 470 at a proximal end thereof may be rotatably coupled withthe lower assembly 300. The opening 473 of the mount attachment portion472 of the coupler 470 may be rotatably coupled on the shaft 360 of themount 320 of the lower assembly 300. The local axis 50A defined by thecoupler 470 may align with the lateral axis 50 defined by the lowerassembly 300 when assembled together. The proximal end of the coupler470 may therefore rotate relative to the mount 320 about the lateralaxis 50 on the shaft 360. The proximal end of the mount attachmentportion 472 having the opening 473 may therefore be located between thesecond ear 326 and the second projection 330 of the mount 320.

The rocker 450 at a proximal end thereof may be rotatably coupled withthe lower assembly 300. The mount attachment portion 454 of the rocker450 may be rotatably coupled with the mount 320. The local axis 60Adefined by the rocker 450 may be aligned with the rocker axis 60 of themount 320 when assembled together. The openings 457, 459 of the rocker450 may receive therethrough the shaft 350 of the lower assembly 300.Therefore, the rocker 450 may rotate about the rocker axis 60 on theshaft 350. When assembled together, the first and second ears 456, 458of the rocker 450 may be located in between the first ear 324 and thesecond projection 330 of the mount 320.

The middle assembly 400 may include a sensing element 487. The sensingelement 487 may be a magnet. The element 487 may be located within anopening 488 at the proximal end of the coupler 470. The opening 488 maybe in the mount attachment portion 472 of the coupler 470. The opening488 may receive the element 487 therein. In some embodiments, theelement 487 is a magnet that interacts with the sensor 382 of the lowerassembly 300, for example a Hall Effect sensor assembly. The element 487and the sensor 382 may provide data related to the position of thecoupler 470 relative to the mount 320. The data related to the relativeposition between the coupler 470 and the mount 320 may be used tocontrol the thumb 200, as further described.

As further shown in FIGS. 4A and 4B, the middle assembly 400 may includea main shaft 489. The main shaft 489 may be an elongated structuralelement configured to rotatably couple the middle assembly 400 with theupper assembly 500, as further described. The shaft 489 may be receivedthrough and/or secured within the openings 434, 438 of the swayingchassis 410. The main shaft 489 may include a first end 489A and asecond end 489B. The second end 489B may be received in and/or throughthe opening 434 and the first end 489A may be received in and/or throughthe opening 438 of the chassis 410. The shaft 489 may extend between thefirst ear 432 and the second ear 436 of the chassis 410. In someembodiments, the openings 434, 438 may include a bushing 498 locatedtherein.

The shaft 489 may have located thereon various components. As shown, theshaft may include a worm wheel 490, a bushing 491, a bevel gear 492 anda worm wheel 493. The worm wheel 490 may be located near the first ear432 and the worm wheel 493 may be located near the second ear 436. Theworm wheels 490, 493 may be spaced apart from each other. In between theworm wheels 490, 493 may be located the bevel gear 492. In someembodiments, the bushing 491 is located between the worm wheel 490 andthe bevel gear 492.

The worm wheels 490, 493 may be in mechanical communication withcorresponding worm gears 534, 542 as further described. The worm wheel490 is rotationally fixed on the shaft 489 about the axis 90. The wormwheel 490 may be rotationally fixed by a pin 494. The pin 494 may extendinto or through the wheel 490, and into or through the first ear 432 ofthe chassis 410, to prevent the wheel 490 from rotating about axis 90.The pin 494 may extend into or through the opening 435 (shown in FIG.4C) of the chassis 410. The rotationally-fixed worm wheel 490 mayinteract with the worm gear 534 to cause a pinch rotation about the axis90, as further described.

The worm wheel 493 is rotatably coupled on the shaft 489 about the axis90. The bevel gear 492 is also rotatably coupled on the shaft 489 aboutthe axis 90. The bevel gear 492 is rotationally fixed with the wormwheel 493. Rotation of the worm wheel 493 about the axis 90 will thuscause a corresponding rotation of the bevel gear 492 about the axis 90.The bevel gear 492 may mechanically communicate with the bevel gear 485.The mechanical communication between the bevel gears 485, 492 may causethe upper assembly 500 to rotate about the lateral axis 50, as furtherdescribed.

FIG. 4F is a perspective view of another embodiment of a coupler 470Athat may be used with the thumb 200. The coupler 470A may have the sameor similar features and/or functions as the coupler 470 describedherein. In addition or alternatively to features described with respectto the coupler 470, the coupler 470A in some embodiments may include,for example, more than one sensing element 487. The sensing elements 487may be magnets. The coupler 470A may include a first sensing element 487such as a first magnet with a first polarity and a second sensingelement 487 such as a second magnet with a second polarity opposite thefirst polarity. The elements 487 may be disposed in openings 488 onopposite sides of the coupler 470A. The openings 488 may be in the mountattachment portion 472 of the coupler 470A. The mount attachment portion472 may protrude or extend (e.g., include additional surface area) toaccommodate additional openings 488 and/or elements 487.

The middle assembly 400 may include two sensing elements 487 which allowfor the reduction of external noise during the calculation of theposition of the coupler 470A relative to the mount 320. One of thesensing elements 487 may be disposed close to the sensor 382 when thethumb 200 is rotated away from a palm of a hand. This can allow theelement 487 to be close enough to the sensor 382 when the thumb 200 isrotated away from the palm, towards a lateral position, to overcomebackground and/or outside noise, e.g., from electro-magneticcompatibility (EMC) influence, such as electrostatic discharge (ESD),electromagnetic interference (EMI), or radio frequency interference(RFI), or from the earth's magnetic field, that might otherwiseinterfere with the sensor's 382 functionality. This can improve theaccuracy of the estimated rotation of the thumb 200.

In some embodiments, when the thumb 200 is rotated towards the palmthere is a strong positive magnetic signal, and when the thumb 200 isrotated away from the palm there is a strong negative magnetic signal.The presence of a strong magnetic signal when the thumb 200 is in eachof the aforementioned positions can reduce the effect of external noiseon the sensor 382 and thereby increase the accuracy of calculations ofthe thumb's 200 rotation.

One or more of the sensors 382 and/or elements 487 may be disposed aboutvarious axes. The sensors 382 and/or elements 487 may be disposed aboutthe local axis 50A of the coupler 470A and/or the rocker axis 60 of therocker 450, for example within the second projection 330 of the mount320. Sensors 382 and/or elements 487, such as magnets, which aredisposed about the local axis 50A may provide information about therotational position of the thumb 200. Sensors 382 and elements 487, suchas magnets, which are disposed about, for example, the local axis 50Acan provide information about the position of the thumb 200 about thelocal axis 50A. Sensors 382 and elements 487 can be disposed about boththe local axis 50A and/or the rocker axis 60 to provide informationabout the absolute position of the thumb 200 along both axes. Inaddition or alternatively, in some embodiments, the sensors 382 and/orelements 487 may be disposed about the local axis 80A of the coupler470A.

FIGS. 5A and 5B are perspective views of the upper assembly 500. FIG. 5Cis an exploded view of the upper assembly 500. The upper assembly 500may be described with respect to distal and proximal directions, asindicated in FIGS. 5A-5C. The upper assembly 500 may include a cover508. As shown in FIG. 5C, the upper assembly 500 or portions thereof mayextend along and define a thumb longitudinal axis 502. The cover 508 mayextend along the axis 502. As mentioned, the upper assembly 500 may beor include the digit, such as the thumb digit, that is rotated about theaxes 50 and/or 90. For example, the cover 508 may provide the outerstructure for the digit that is rotated.

The cover 508 may provide a cover or housing for various components ofthe upper assembly 500. The cover 508 may be a single piece or multiplepieces. As shown, the cover 508 may include a distal tip cover 510, alower cover 512, and a actuator housing 514. The distal cover 510 maycover a distal end of the upper assembly 500. The distal tip may befully rubber or other materials that provide high friction, better gripat all positions, and is flexible to allow large forces forgripping/pinching.

The lower cover 512 may be attached to the distal cover 510. Theactuator housing 514 may be attached to the lower cover 512. The variouscomponents of the cover 508 may have a thumb shape or a general thumbshape.

The cover 508 may include a gearing cover 526. As shown, the cover 526may be part of the housing 514. The housing 514 may include an opening515 and an opening 517 on a proximal end thereof. The opening 515 mayinclude a bushing 536 therein. The opening 517 may include a bushing 537therein. The openings 515, 517 may support ends of correspondingbushings 536, 544, as further described.

The cover 508 may include a first ear 516 and a second ear 520. Thefirst and second ears 516, 520 may be located at a proximal end of thecover 508. The first and second ears 516, 520 may extend away from thecover 508 to define therebetween a main shaft receiving space 524. Thespace 524 may receive therein the main shaft 489 and the variouscomponents thereon, as described in further detail for example withrespect to FIG. 4B. The first ear 516 may include an opening 518extending therethrough. The second ear 520 may include an opening 522extending therethrough. The main shaft 489 may be supported by the firstand second ears 516, 520. The first end 489A of the shaft 489 may besupported within the opening 522 of the second ear 520. The second end489B of the shaft 489 may be supported by the opening 518 of the firstear 516.

The openings 518, 522 may be aligned with each other and define a localaxis 90A. The axis 90A may align with the main shaft 489 when the shaft489 is located within the receiving space 524. The axis 90 a may alignwith the pinch axis 90 when assembled with the middle assembly 400. Theupper assembly 500 may rotate about the pinch axis 90.

As shown in FIG. 5B, the upper assembly 500 may include one or moreactuator wires 550. As shown, the actuator wires 550 may extend awayfrom a proximal end of the upper assembly 500. The actuator wires 550may be connected to a processor, for example via the actuator cablecircuit board 378.

As shown in FIG. 5B, the upper assembly 500 may include a first wormgear 534. The upper assembly 500 may include a second worm gear 542. Theworm gears 534, 542 may be rotated by one or more actuators 530, 538, asfurther described. The worm gears 534, 542 may be located adjacent thereceiving space 524. The gears 534, 542 may mechanically communicaterespectively with the worm wheels 490, 493 of the middle assembly 400.Mechanical communication of the worm gears 534, 542 with the worm wheels490, 493 may cause the upper assembly 500 to rotate about the pinch axis90 and/or the lateral axis 50, as further described.

The upper assembly may include a first actuator 530. The upper assembly500 may include a second actuator 538. In some embodiments, the upperassembly 500 may include only one of the actuators. In some embodiments,the upper assembly 500 may include more than two actuators. As shown,the first actuator 530 may be in mechanical communication with the firstworm gear 534. The first actuator 530 may actuate, for example rotate,the first worm gear 534. In some embodiments, the upper assembly 500 mayinclude a first actuator bushing 532. The actuator bushing 532 may beattached to a proximal end of the first actuator 530 and/or a distal endof the first worm gear 534. A proximal end of the first worm gear 534may be coupled with a bushing 536 which may be secured with the opening515 of the cover 508.

The upper assembly may include the second actuator 538. The secondactuator 538 may be in mechanical communication with a second worm gear542. The second actuator 538 may actuate, for example rotate, the secondworm gear 542. In some embodiments, the second actuator 538 may becoupled with a second actuator bushing 540. The second actuator bushing540 may be located at a proximal end of the second actuator 538. Aproximal end of the second worm gear 542 may be coupled with a bushing544. The bushing 544 may be may be secured with the opening 517 of thecover 508.

The first and/or second actuator 530, 538 may extend along or parallelto the longitudinal axis 502. As shown, the actuators 530, 538 arelocated adjacent to each other within the cover 508 and extend along thelongitudinal axis 502. The first and second worm gears 534, 542 arelocated at a proximal end of the upper assembly 500. The actuators 530,538 actuate the respective worm gears 534, 542 to cause rotation of theupper assembly 500 about the axis pinch 90, as further described.

The upper assembly 500 may include the gearing cover 526 located abovethe first and second worm gears 534, 542. In some embodiments, the upperassembly 500 may include one or more pins 556. In some embodiments, theupper assembly 500 may include a screw 552 and a screw 554. The screws552, 554 may attach to various components of the upper assembly 500. Insome embodiments, other suitable attachments besides fasteners may beused, for example adhesives, ties, or other suitable means.

The upper assembly 500 may rotate about a first axis and/or a secondaxis. The upper assembly 500 may rotate simultaneously about the firstaxis and the second axis. The upper assembly 500 may rotate about onlythe first axis or only about the second axis.

In some embodiments, rotation of the upper assembly 500 about the firstand second axes may mimic rotation of a human sound thumb by performingrotations about axes where the axes are moving relative to a fixedreference frame, such as the mount 320. The first axis may be the pinchaxis 90, for example as shown in FIGS. 2A to 2C. The second axis may bethe lateral axis 50, for example as shown in FIGS. 2B and 2C. The upperassembly 500 may rotate simultaneously about the axes 50, 90 to mimicmovement of a sound thumb. Rotation of the upper assembly 500 about thelateral axis 50 may result in a sweeping motion of the upper assembly500 about the lateral axis 50. This sweeping motion of the upperassembly 500 may resemble an arc. The sweeping motion may cause theupper assembly 500 to effectively rotate about a local longitudinal axisextending along the digit due to the separation of the lateral axis 50from the rotating digit.

The upper assembly 500 may rotate about the various axes by actuatingthe first actuator 530 and/or the second actuator 538. Rotation of thefirst worm gear 534 by the first actuator 530 may cause the upperassembly 500 to rotate about the pinch axis 90. Rotation of the secondworm gear 542 by actuation of the second actuator 538 may, depending onthe speed of rotation, allow for rotation about only the pinch axis 90or cause rotation of the upper assembly 500 about the lateral axis 50.In some embodiments, only one of the actuators 530, 538 may be actuatedat a time. In some embodiments, both of the actuators 530, 538 may beactuated at a time. In some embodiments, the first and second actuators530, 538 may be actuated simultaneously. Actuation of the first actuator530 may contribute to rotation of the upper assembly 500 about the pinchaxis, while actuation of the second actuator 538 may contribute torotation of the upper assembly 500 about both the pinch axis 90 and thelateral axis 50.

Rotation of the upper assembly 500 about the pinch axis 90 may be due tomechanical communication between the rotating worm gear 534 and the wormwheel 490. That is, rotation of the first worm gear 534 may causeinteraction with the worm wheel 490. Interaction of the gear teeth ofthe first worm gear 534 with the complementary projections of the wormwheel 490 will cause the gear 534 to advance along the outercircumference of the wheel 490. Advancement of the gear 534 along thewheel 490 will cause the upper assembly 500 to rotate in an open orclosed direction about the pinch axis 90, depending on the direction ofrotation of the worm gear 534. By “open” it is meant that the upperassembly 500 moves in a direction associated with opening a grip. Forexample, the upper assembly 500 may open by rotating away from a palm ofthe hand 120. By “closed” it is meant that the upper assembly 500 movesin a direction associated with closing a grip. For example, the upperassembly 500 may close by rotating away toward a palm of the hand 120.

Further, the pinch axis 90 may change orientation relative to a fixedreference frame, such as the mount 320, which may be fixed to the hand120 or other component and may be considered an example of a fixedreference frame for purposes of description of the moving axes. Thepinch axis 90 may change orientation due to lateral rotation of theupper assembly 500 about the lateral axis 50. The pinch axis 90 mayrotate about the lateral axis 50 during lateral rotation. The pinch axis90 may make a sweeping motion while rotating, as described with respectto lateral rotation of the digit, for example due to separation betweenthe pinch axis 90 and the lateral axis 50. Thus, when the upper assembly500 is later rotated about the pinch axis 90 after rotating aboutlateral axis 50, the orientation of the pinch axis 90 relative to themount 320 may have changed. For example, the pinch axis 90 may moverelative to the mount 320 as the upper assembly 500 rotates. The pinchaxis 90 may move to change angles and/or planes.

As the upper assembly 500 rotates about the pinch axis 90, the secondworm gear 542 will also rotate with the upper assembly 500 about theaxis 90. The second worm gear 542 may have a series of teeth thatinteract with a series of projections on the worm wheel 493. Because theworm wheel 493 is rotationally fixed with the bevel gear 492, the bevelgear 492 will also rotate about the pinch axis 90 and thereby actagainst the bevel gear 485, which causes lateral rotation, as furtherdescribed. Therefore, appropriate rotation of the bevel gear 492 duringpinch axis rotation will allow for rotation of the upper assembly 500about the pinch axis. For example, the bevel gear 492 may be rotated bythe second actuator 538 at a particular speed and direction in order toallow for the first actuator 530 to cause the desired pinch rotation.The bevel gear 492 may be rotated at a corresponding speed and directionto move the teeth of gear 492 between the teeth of gear 485 in order tonot transmit forces to the gear 485 sufficient to induce lateralrotation of the upper assembly 500 about the lateral axis 50. In thisway, the upper assembly 500 may rotate only about the pinch axis 90. Thecorresponding speed of rotation of the bevel gear 492 to only allow forpinch axis rotation will depend on the particular geometry of the bevelgear 492 and bevel gear 493, such that the teeth of each gear 492, 493will not interact in a manner to cause lateral rotation. If lateralrotation about the lateral axis 50 while rotating about the pinch axis90 is desired, the bevel gear 492 may be rotated at a different speed,as further described.

Rotation of the upper assembly 500 about the lateral axis 50 may be dueto mechanical communication between the rotating worm gear 542 and theworm wheel 493, which rotates the bevel gear 492, as described. Further,the clutch axis 80 may align with the axes 80A and 80B as shownrespectively in FIGS. 4E and 4C. The clutch axis 80 may further alignwith the shaft 485A of the bevel gear 485. As described, a shaft 485A ofthe bevel gear 485 may extend through the opening 476 of the coupler 470and the opening 431 of the swaying chassis 410 and secure together thecoupler 470 and chassis 410 with the nut 484 and clutch assembly 479.The bevel gear 485 may thus be rotationally connected about the clutchaxis 80 due to the clutch assembly 479 with a certain amount ofrotational resistance.

The mechanical communication of the bevel gear 492 with the bevel gear485 may cause relative rotation between the swaying chassis 410 and themount 320. This relative rotation may be about the lateral axis 50. Thebevel gear 485 may be rotationally fixed due to the clutch assembly 479such that the interaction of teeth of the bevel gear 492 with teeth ofthe bevel gear 485 will apply a lateral force to the bevel gear 485 andthus the distal end of the coupler 470 and chassis 410, to cause thechassis 410 to move, for example sway. This lateral movement of thechassis 410 will cause movement of the coupler 470 and rocker 450. Theproximal end of the coupler 470 will rotate about the axis 50 relativeto the mount 320, the proximal end of the rocker 450 will rotate aboutthe axis 60 relative to the mount 320, and the distal end of the rocker450 will rotate about the axis 70 relative to the chassis 410. Thismovement will cause the upper assembly 500, which is coupled with thechassis 410, to rotate about the lateral axis 50 relative to the mount320. Thus, the upper assembly 500 may perform a sweeping motion, asdescribed, as the upper assembly 500 moves due to separation of theupper assembly 500 and the lateral axis 50.

Further, as the chassis 410 rotates, the orientation of the clutch axis80 may change as well, for example with respect to the mount 320. Forexample, the clutch axis 80 may move relative to the mount 320 as theupper assembly 500 rotates. The clutch axis 80 may move to change anglesand/or planes. Because the chassis 410 will be moving relative to themount 320, the clutch axis 80 will also be moving relative to the mount320.

Simultaneous rotation of the upper assembly 500 about the pinch axis 90and lateral axis 50 may be due to mechanical communication between therotating worm gears 534, 542 and the respective worm wheels 490, 493.The interactions may be as described above individually for pinch andlateral rotation, but with the worm gear 542 rotating the worm wheel 493(and thus bevel gear 492) at an appropriate speed. For example, thebevel gear 492 may be rotated at a sufficiently slow or fast speed tocause the lateral forces described above to be imparted on the bevelgear 485 to cause the movement of the chassis 410 and the rotation aboutthe lateral axis 50. The desired direction of lateral rotation can becontrolled by the direction of rotation of the bevel gear 492.

The various devices and systems discussed herein may be embodied insoftware and/or hardware in a number of configurations. FIG. 6 is ablock diagram of an embodiment of a thumb 600. The thumb 600 may havethe same or similar features and/or functionalities as the thumb 200,and vice versa. In some embodiments, some or all of the components ofthe thumb 600 are shared with the hand 120.

The thumb 600 has a set of components including a processor 614 inelectrical communication with a sensor 612, a working memory 616, amemory storage 618, first and second actuators 630, 632, acommunications subsystem 620, and a module memory 622. The componentsmay be in communication via wired or wireless connections.

In some embodiments, the sensor 612 may be the sensor 382, such as aHall Effect sensor. The first actuator 630 may be the actuator 530. Thesecond actuator 632 may be the actuator 538. The processor 614 may bepart of the board 374 or 378. The processor 614 may be separate from thethumb 600 and be located on the hand 120. The processor 614 may be ageneral purpose processing unit or a processor specially designed forprosthetic applications. A general purpose processor can be amicroprocessor, but in the alternative, the processor can be anyconventional processor, controller, microcontroller, or state machine.The working memory 616 may be used by the processor 614 to store aworking set of processor instructions contained in the modules of memory622. Alternatively, working memory 616 may also be used by the processor614 to store dynamic data created during the operation of the thumb 600.

In some embodiments, the processor 614 is configured by the severalmodules stored in the memory 622. The modules in memory 622 may besoftware, such as programs or applications. A plurality of modules maybe in the thumb 600. These modules include instructions that configurethe processor 614 to perform various control or other type tasks. In theembodiment shown, the memory 622 stores module one 624, module two 626,etc. to module “N” 628. The modules may be related to, for example,processing data from the sensor 612, detection of current orientation ofthe thumb 600, determination of how to achieve a desired orientationwith the thumb 600, commanding the thumb 600 for example the actuators630, 632 to perform a rotation or movement, tracking movement of thethumb 600, etc. Further example methods of operation of the modules arefurther described herein, for example with respect to FIG. 7.

The memory 622 may include an operating system module, such as moduleone 624, that configures the processor 614 to manage the memory andprocessing resources of the thumb 600. For example, the operating systemmodule may include device drivers to manage hardware resources such asthe sensor 612, actuators 630, 632, or storage 618. Instructionscontained in the modules of memory 622 may thus not interact with thesehardware resources directly, but instead interact through standardsubroutines or APIs located in an operating system component.Instructions within the operating system may then interact directly withthese hardware components.

In some embodiments, the operating system and/or other modules orcomponents of the thumb 600 are on a separate device, such as a mobiledevice or remote processor. For example, the operating system may be aremote operating system of a remote device that is in communication withthe thumb 600 via the communications subsystem 620. The mobile operatingsystem may be on a mobile device, such as a smartphone, and may beGoogle's Android, Apple's iOS, Symbian, Blackberry Ltd's BlackBerry 10,Samsung's Bada, Microsoft's Windows Phone, Hewlett-Packard's webOS,embedded Linux distributions such as Maemo and MeeGo, Mozilla's FirefoxOS, Canonical Ltd.'s Ubuntu Phone, Tizen, or others. The remote devicecan receive multiple operating system module updates over its lifetime.

The processor 614 may write data to the storage 618. While the storage618 may be a traditional disk device, it may also be a disk basedstorage device or one of several other type storage mediums to include amemory disk, USB drive, flash drive, remotely connected storage medium,virtual disk driver, or the like.

FIG. 6 depicts the thumb 600 comprising separate components to include aprocessor, imaging sensor, and memory, however these separate componentsmay be combined in a variety of ways to achieve particular designobjectives. For example, in an alternative embodiment, the memorycomponents may be combined with processor components to save cost andimprove performance. Further the memory components may be combined witheach other.

FIG. 7 is a flow chart showing an embodiment of a method 700 of rotatinga powered prosthetic thumb. The method 700 may be performed by the thumb200 or 600. Other rotations and movements may also be performed besidesthose described in the method 700. For example, the thumb may includeother joints along the digit that rotate as well.

The method 700 begins with block 710 wherein a thumb command isreceived. The thumb command may be a command to perform a particularrotation or form a desired orientation or grip. The command may includeinstructions to perform a pinch rotation of the upper assembly 500 aboutthe pinch axis 90 and/or a lateral rotation about the lateral axis 50.Block 710 may include the thumb 200 receiving a command via the board374, or the thumb 600 may receive a command via the communicationssubsystem 620. The command may be manually communicated from a user orautomatically generated in response to detecting certain preconditionsthat trigger automatic movement. The command may be generated viagesture control or other techniques, for example techniques as describedin U.S. Pat. No. 8,696,763, titled PROSTHETIC APPARATUS AND CONTROLMETHOD and issued on Apr. 15, 2014. The processor 614 may receive thecommand and query one or more modules of memory 622 and/or memories 616,618.

The method 700 next moves to block 712 wherein the thumb orientation isdetermined. The orientation of the thumb 200 or 600 or portions thereofmay be determined. The orientation may be determined using the sensors382 and element 487, such as a Hall Effect sensor and a magnet asdescribed. The sensor 612 may be used. Data from the sensors may becommunicated and/or processed by the processor 614 or the board 374,387. The data may be analyzed by running one or more of the modules inmemory 622 or with memories 616, 618. The orientation may be used todetermine which movements of the upper assembly 500 are needed toachieve the desired orientation as commanded in block 710.

The method 700 next moves to step 714 wherein the actuators arecommanded to effect the movement of the thumb 200 or 600. The actuators630 and/or 632 may be commanded. The actuators 530 and/or 538 may becommanded. The actuators may be commanded to perform a rotation of theupper assembly 500 about the pinch axis 90 and/or lateral axis 50. Theactuators may be commanded to actuate, for example rotate, as variousspeeds or according to various operating profiles, such as ramp up,constant, ramp down. The actuators may be operated at desired speeds anddirections to cause a desired lateral or pinch rotation, as describedabove.

The method 700 next moves to block 716 wherein the upper assembly 500rotates about a pinch axis. The pinch axis may be the pinch axis 90. Theactuator 530 or 630 may be commanded, for example to rotate in a firstdirection. The actuators may actuate in the manners described herein.The rotation may be mechanically communicated as described herein, forexample with mechanical communication between the actuator 530, wormgear 534, and worm wheel 490.

The method 700 next moves to block 718 wherein the upper assembly 500rotates about a lateral axis. The lateral axis may be the lateral axis50. The actuator 538 or 632 may be commanded, for example to rotate in afirst direction. The actuators may actuate in the manners describedherein. The rotation may be mechanically communicated as describedherein, for example with mechanical communication between the actuator538, worm gear 542, worm wheel 493, and bevel gears 492 and 485. Therotation shown and described with respect to FIGS. 2D-2E may beeffected. In some embodiments, block 718 may not be performed, forexample where rotation is only about the pinch axis. In someembodiments, blocks 716 and 718 are performed simultaneously, forexample where the digit rotates about both axes 50, 90 simultaneously.

The method 700 next moves to block 720 wherein the orientation of aclutch axis is adjusted. The clutch axis 80 may be adjusted. The clutchaxis 80 may be adjusted due to rotation of the thumb 200 or 600, forexample the upper assembly 500, about the lateral axis 50, which maymove the clutch axis, as described. The orientation of the clutch axismay be adjusted relative to a fixed reference frame, such as the mount320. In some embodiments, block 720 may not be performed, for examplewhere rotation is only about the pinch axis and the clutch axis does notchange orientation.

The method 700 next moves to block 722 wherein the orientation of apinch axis is adjusted. The pinch axis 90 may be adjusted. The pinchaxis may be adjusted due to rotation of the thumb 200 or 600, forexample the upper assembly 500, about the lateral axis 50, which maymove the pinch axis, as described. The orientation of the pinch axis maybe adjusted relative to a fixed reference frame, such as the mount 320.In some embodiments, blocks 720 and 722 are performed simultaneously,for example where the thumb rotates about both axes 50, 90simultaneously.

In some embodiments, two or more of the steps of the method 700 may beperformed simultaneously. For example, all steps of the method 700 maybe performing at the same time. Steps 714, 716, 718, 720 and 720 may allbe performing at the same time. Other combinations of multiple steps maybe performed simultaneously, as will be apparent from the descriptionherein.

FIGS. 8A and 8B are front and back views respectively of an embodimentof a partial prosthetic hand 120A having the thumb 200. The hand 120Amay have only four finger digits 130 attached to a palm 121. The hand120A may have a wrist connector 122 configured to attach the hand to anarm, such as a prosthetic arm, or to a corresponding connector on aprosthetic or natural arm. The hand 120A may be configured to have athumb attached to it. The thumb 200 may be attached to the hand 120A asshown. The lower assembly 300 of the thumb 200 may attach to the hand120A, such as to the palm 121. The thumb 200 may be operated on the hand120A in conjunction with the other digits 130 to form desired grips orother movements. The thumb 200 may be attached to a variety of differenthands, such as a hand that is partially prosthetic and partiallynatural. The thumb 200 may attach directly to a residual (natural) orprosthetic arm or palm, such as the arm 110 or palm 124 as shown anddescribed with respect to FIGS. 1A and 1B.

Various modifications to the implementations described in thisdisclosure can be readily apparent to those skilled in the art, and thegeneric principles defined herein can be applied to otherimplementations without departing from the spirit or scope of thisdisclosure. Thus, the disclosure is not intended to be limited to theimplementations shown herein, but is to be accorded the widest scopeconsistent with the claims, the principles and the novel featuresdisclosed herein. The word “example” is used exclusively herein to mean“serving as an example, instance, or illustration.” Any implementationdescribed herein as “example” is not necessarily to be construed aspreferred or advantageous over other implementations.

Any specific order or hierarchy of steps or blocks in any disclosedprocess is an example of a sample approach. Based upon designpreferences, it is understood that the specific order or hierarchy ofsteps or blocks in the processes can be rearranged while remainingwithin the scope of the present disclosure. Any accompanying that claimspresent elements of the various steps or blocks in a sample order arenot meant to be limited to the specific order or hierarchy presented.

A person/one having ordinary skill in the art would appreciate that anyof the various illustrative logical blocks, modules, controllers, means,circuits, and algorithm steps or blocks described in connection with theaspects disclosed herein can be implemented as electronic hardware(e.g., a digital implementation, an analog implementation, or acombination of the two, which can be designed using source coding orsome other technique), various forms of program or design codeincorporating instructions (which can be referred to herein, forconvenience, as “software” or a “software module”), or combinations ofboth.

Certain features that are described in this specification in the contextof separate implementations also can be implemented in combination in asingle implementation. Conversely, various features that are describedin the context of a single implementation also can be implemented inmultiple implementations separately or in any suitable sub-combination.Moreover, although features can be described above as acting in certaincombinations and even initially claimed as such, one or more featuresfrom a claimed combination can in some cases be excised from thecombination, and the claimed combination can be directed to asub-combination or variation of a sub-combination.

Similarly, while operations are depicted in the drawings in a particularorder, this should not be understood as requiring that such operationsbe performed in the particular order shown or in sequential order, orthat all illustrated operations be performed, to achieve desirableresults. In certain circumstances, multitasking and parallel processingcan be advantageous. In some cases, the actions recited in the claimscan be performed in a different order and still achieve desirableresults.

In general, terms used herein are generally intended as “open” terms(e.g., the term “including” should be interpreted as “including but notlimited to,” the term “having” should be interpreted as “having atleast,” the term “includes” should be interpreted as “includes but isnot limited to,” etc.). If a specific number of an introduced claimrecitation is intended, such an intent will be explicitly recited in theclaim, and in the absence of such recitation no such intent is present.

For example, as an aid to understanding, the following appended claimsmay contain usage of the introductory phrases “at least one” and “one ormore” to introduce claim recitations. However, the use of such phrasesshould not be construed to imply that the introduction of a claimrecitation by the indefinite articles “a” or “an” limits any particularclaim containing such introduced claim recitation to embodimentscontaining only one such recitation, even when the same claim includesthe introductory phrases “one or more” or “at least one” and indefinitearticles such as “a” or “an” (e.g., “a” and/or “an” should typically beinterpreted to mean “at least one” or “one or more”); the same holdstrue for the use of definite articles used to introduce claimrecitations.

In addition, even if a specific number of an introduced claim recitationis explicitly recited, those skilled in the art will recognize that suchrecitation should typically be interpreted to mean at least the recitednumber (e.g., the bare recitation of “two recitations,” without othermodifiers, typically means at least two recitations, or two or morerecitations). Furthermore, in those instances where a conventionanalogous to “at least one of A, B, and C, etc.” is used, in generalsuch a construction is intended in the sense one having skill in the artwould understand the convention (e.g., “a system having at least one ofA, B, and C” would include but not be limited to systems that have Aalone, B alone, C alone, A and B together, A and C together, B and Ctogether, and/or A, B, and C together, etc.). In those instances where aconvention analogous to “at least one of A, B, or C, etc.” is used, ingeneral such a construction is intended in the sense one having skill inthe art would understand the convention (e.g., “a system having at leastone of A, B, or C” would include but not be limited to systems that haveA alone, B alone, C alone, A and B together, A and C together, B and Ctogether, and/or A, B, and C together, etc.). It will be furtherunderstood by those within the art that virtually any disjunctive wordand/or phrase presenting two or more alternative terms, whether in thedescription, claims, or drawings, should be understood to contemplatethe possibilities of including one of the terms, either of the terms, orboth terms. For example, the phrase “A or B” will be understood toinclude the possibilities of “A” or “B” or “A and B.”

What is claimed is:
 1. A powered prosthetic thumb, comprising: a mount;a digit rotatably coupled with the mount about a first axis and a secondaxis, the first axis non-parallel with the second axis; and an actuatorconfigured to cause rotation of the digit about the first axis, whereinan orientation of the first axis relative to the mount changes as thedigit rotates about the second axis.
 2. The powered prosthetic thumb ofclaim 1, wherein the actuator is configured to rotate in a firstdirection to cause the digit to rotate about the first axis.
 3. Thepowered prosthetic thumb of claim 1, further comprising a secondactuator configured to cause the digit to rotate about the second axis.4. The powered prosthetic thumb of claim 1, wherein an orientation ofthe first axis relative to the second axis changes as the digit rotatesabout the second axis.
 5. The powered prosthetic thumb of claim 3,wherein the first axis rotates about the second axis as the digitrotates about the second axis.
 6. The powered prosthetic thumb of claim1, further comprising a clutch assembly configured to allow for manualrotation of the digit about the second axis.
 7. The powered prostheticthumb of claim 1, further comprising a first worm wheel and a first wormgear in mechanical communication with the first worm wheel, wherein theactuator is configured to cause rotation of the digit about the firstaxis by causing rotation of the first worm gear.
 8. The poweredprosthetic thumb of claim 3, further comprising a first bevel gear and asecond bevel gear in mechanical communication with the first bevel gear,wherein the second actuator is configured to cause rotation of the digitabout the second axis by causing rotation of the first bevel gear. 9.The powered prosthetic thumb of claim 1, further comprising a chassisrotatably coupling the mount with the digit.
 10. The powered prostheticthumb of claim 9, further comprising a first link and a second link,each link rotatably coupling the chassis with the mount.
 11. The poweredprosthetic thumb of claim 1, wherein the first axis is a pinch axis,such that rotation of the digit about the first axis causes the digit toopen or close, and the second axis is a lateral axis, such that rotationof the digit about the second axis causes lateral rotation of the digit.12. The powered prosthetic thumb of claim 1, wherein the digit comprisesthe first actuator.
 13. The powered prosthetic thumb of claim 1, whereinthe mount is configured to couple with a prosthetic socket mounted on aresidual limb.
 14. The powered prosthetic thumb of claim 1, wherein themount is configured to couple with a partial prosthetic hand.
 15. Thepowered prosthetic digit of claim 1, wherein the mount is configured tocouple with an upper limb.
 16. The powered prosthetic thumb of claim 15,wherein the upper limb is a prosthetic arm or natural arm.
 17. A poweredprosthetic thumb, comprising: a mount; a digit rotatably connected tothe mount at least about a first axis; an actuator in mechanicalcommunication with the digit and configured to rotate the digit aboutthe first axis; and a clutch coupled with the mount and the digit, theclutch providing a rotational resistance to the digit about the firstaxis, wherein the digit is configured to be operated in a manual modewherein the rotational resistance is overcome to allow the digit to bemanually rotated about the first axis.
 18. The powered prosthetic thumbof claim 17, wherein the clutch assembly comprises a compression spring.19. The powered prosthetic thumb of claim 18, wherein the compressionspring comprises a Belleville washer.
 20. The powered prosthetic thumbof claim 17, wherein the digit is rotatably coupled with the mount aboutthe first axis and a second axis, the first axis non-parallel with thesecond axis.
 21. The powered prosthetic thumb of claim 20, wherein anorientation of the second axis relative to the mount changes as thedigit rotates about the first axis.
 22. The powered prosthetic thumb ofclaim 17, wherein the clutch is providing the rotational resistance tothe digit about the first axis via a bevel gear.
 23. The poweredprosthetic thumb of claim 22, wherein the bevel gear is configured torotate in response to overcoming the rotational resistance to allow thedigit to be manually rotated about the first axis.
 24. A poweredprosthetic thumb comprising: a lower assembly comprising a mount; amiddle assembly comprising a chassis, wherein the middle assembly isrotatably coupled with the lower assembly about a lateral axis; an upperassembly comprising a digit, wherein the upper assembly is rotatablycoupled with the middle assembly about a pinch axis; a first actuatorconfigured to cause rotation of the digit relative to the chassis aboutthe pinch axis; and a second actuator configured to cause rotation ofthe digit about the lateral axis by causing rotation of the chassisrelative to the mount about the lateral axis, wherein the pinch axis isconfigured to rotate about the lateral axis as the digit rotates aboutthe lateral axis.
 25. The powered prosthetic thumb of claim 24, whereinthe lateral axis extends along a first direction, the pinch axis extendsalong a second direction that is non-parallel with respect to the firstdirection, and the second actuator is configured to cause rotation ofthe chassis relative to the mount about the lateral axis such that thesecond direction remains non-parallel to the first direction.
 26. Thepowered prosthetic thumb of claim 24, wherein the lateral axis does notintersect the pinch axis while the chassis rotates about the lateralaxis.
 27. The powered prosthetic thumb of claim 24, wherein a proximalportion of the mount is positioned proximal to a distal portion of thechassis, a proximal portion of the chassis is positioned proximal to adistal portion of the digit, and the lateral axis is positioned proximalto the digit.
 28. The powered prosthetic thumb of claim 27, wherein thelateral axis is positioned proximal to the chassis.
 29. The poweredprosthetic thumb of claim 27, wherein the pinch axis is positioneddistal to the proximal portion of the chassis.
 30. The poweredprosthetic thumb of claim 27, wherein the digit is configured to rotateabout the pinch axis in a first plane that comprises the lateral axis.